version: 66.02
glider: 106
mission: 7
dive: 180
start: 10 1 107 14 21 39
data:
$ID,106
$MISSION,7
$DIVE,180
$D_SURF,5
$D_FLARE,2
$D_TGT,100
$D_ABORT,1050
$D_NO_BLEED,200
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,35
$T_MISSION,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,120
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,125
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51341
$NAV_MODE,1
$FERRY_MAX,0
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.650002
$TGT_DEFAULT_LON,-122.8667
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,150000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-46971.145
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,460
$PITCH_MAX,3783
$C_PITCH,3100
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,13
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,125
$PITCH_MAXERRORS,2
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,156
$ROLL_MAX,3859
$C_ROLL_DIVE,1800
$C_ROLL_CLIMB,1735
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,16
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,735
$VBD_MAX,3975
$C_VBD,3218
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-7.4494777
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,25
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,50
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,2
$SMARTDEVICE1,5
$SMARTDEVICE2,19
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043539782
$SEABIRD_T_H,0.00064512313
$SEABIRD_T_I,2.5114456e-05
$SEABIRD_T_J,2.5805668e-06
$SEABIRD_C_G,-9.960248
$SEABIRD_C_H,1.1215916
$SEABIRD_C_I,-0.00087542483
$SEABIRD_C_J,0.00015764491
$GPS1,141138,4739.460,-12252.522,38,1.6,38,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-60.0
$GPS2,142032,4739.490,-12252.482,10,1.9,15,18.3
$SPEED_LIMITS,0.165,0.236
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.235,0.022
$KALMAN_X,7916.1,135.7,-71.0,-8330.5,-94.2
$KALMAN_Y,11474.3,172.0,-76.8,-12075.1,-72.8
$MHEAD_RNG_PITCHd_Wd,257.0,899,-19.2,-9.524
$D_GRID,124
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-1.63,-122.2,0.0,0.0,0,109,0.00,0.00,-79.57,0.000,2,0.000,0.000,462,1801,3327
$GC,111,-1.63,-122.2,2.1,-4.1,13,148,14.45,2.70,-13.75,0.000,4,0.206,0.084,2739,397,3720
$GC,176,-1.63,-122.2,5.1,-6.2,23,182,0.00,2.47,0.00,0.000,6,0.000,0.034,2739,1817,3722
$GC,248,-1.63,-122.2,11.4,-9.2,34,254,0.00,2.47,0.00,0.000,4,0.000,0.050,2739,3194,3721
$GC,506,-1.63,-122.2,25.3,-3.7,63,512,0.00,2.47,0.00,0.000,6,0.000,0.037,2739,1794,3721
$GC,701,-1.63,-122.2,34.0,-5.2,79,705,0.00,2.53,0.00,0.000,4,0.000,0.048,2739,3197,3722
$GC,739,-1.63,-122.2,36.1,-5.5,81,746,0.00,2.47,0.00,0.000,6,0.000,0.036,2739,1805,3722
$GC,936,-1.63,-122.2,45.9,-4.8,97,937,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1805,3722
$GC,1125,-1.63,-122.2,56.2,-5.9,112,1129,0.00,2.50,0.00,0.000,4,0.000,0.048,2739,3195,3722
$GC,1203,-1.63,-122.2,61.0,-6.6,117,1210,0.00,2.50,0.00,0.000,6,0.000,0.037,2739,1794,3722
$GC,1399,-1.63,-122.2,72.9,-6.2,133,1403,0.00,2.50,0.00,0.000,4,0.000,0.048,2739,3189,3722
$GC,1464,-1.63,-122.2,77.0,-6.1,137,1471,0.00,2.47,0.00,0.000,6,0.000,0.036,2739,1796,3722
$GC,1660,-1.63,-122.2,87.5,-5.0,153,1661,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1796,3722
$GC,1853,-1.63,-122.2,98.3,-5.7,168,1854,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1795,3722
$STATE,1885,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1885,begin apogee
$GC,1890,-0.38,0.0,100.4,5.4,171,1996,1.38,0.00,98.55,0.686,6,0.101,0.000,3014,1721,3217
$STATE,1997,end apogee,CONTROL_FINISHED_OK
$STATE,1997,begin climb
$GC,2000,1.63,122.2,101.5,0.0,180,2106,2.03,2.70,95.50,0.654,4,0.054,0.079,3456,342,2717
$GC,2146,1.63,122.2,88.7,12.1,192,2150,0.00,2.45,0.00,0.000,6,0.000,0.035,3456,1733,2716
$GC,2348,1.63,122.2,65.0,11.8,208,2349,0.00,0.00,0.00,0.000,6,0.000,0.000,3456,1734,2716
$GC,2539,1.63,122.2,44.2,10.9,223,2540,0.00,0.00,0.00,0.000,6,0.000,0.000,3456,1734,2716
$GC,2728,1.63,122.2,23.4,11.5,238,2732,0.00,2.53,0.00,0.000,4,0.000,0.051,3456,3130,2715
$GC,2767,1.63,122.2,19.0,11.5,241,2773,0.00,2.47,0.00,0.000,6,0.000,0.038,3456,1744,2715
$GC,2839,1.63,122.2,11.7,9.7,252,2845,0.00,2.50,0.00,0.000,4,0.000,0.047,3456,3130,2715
$GC,2864,1.63,122.2,9.2,9.6,256,2871,0.00,2.50,0.00,0.000,6,0.000,0.039,3456,1728,2715
$STATE,2914,end climb,SURFACE_DEPTH_REACHED
$STATE,2914,begin surface coast
$FINISH,0.3,1.009569
$STATE,2975,end surface coast,CONTROL_FINISHED_OK
$STATE,2975,begin surface
$SM_CCo,3003,119.43,0.585,0,0,1586,400.08
$SM_GC,0.85,0.00,0.00,119.43,0.000,0.000,0.585,461,1807,1586,-12.14,0.23,400.08
$IRIDIUM_FIX,4722.92,-12253.53,011007,181834
$TT8_MAMPS,0.069797
$HUMID,2003
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.5,52.4
$24V_AH,23.9,20.387
$10V_AH,10.1,41.381
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,31.400,40.500,194.050,119.425,0.000,78.707,117.073,152.340,0.500,0.000,3797.000,15.829,512.906,1743.882,435.896,499.623,492.781,33.329,731.657,0.000,470.855,0.000,5.489
$DEVICE_MAMPS,206.323,84.370,685.698,585.221,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,183.018,0.000,0.000,0.000,0.000,0.000,0.000,3797.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,51.000
$DATA_FILE_SIZE,6423,273
$CFSIZE,260034560,251559936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011007,151444,4739.515,-12253.049,11,1.6,28,18.3